Avoiding downward stairs using Kinect and navigation stack?

Hi,

I've been looking for some information on avoiding downward stairs and dropoffs using the ros navigation stack. What do people typically do? Do they just make their own costmap layer for cliffs (pointcloud values where z < 0)? Or is there a better way? I couldn't find any packages or any mention of this in the costmap documentation.

Thanks!

Asked by femtogram on 2017-04-24 11:53:36 UTC

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Creating a new costmap layer to mark these "negative z" objects sounds like a good approach to me.

Asked by DavidN on 2017-04-24 23:01:27 UTC

I like the approache by @DavidN Would be interesting how to account for noise, though. What is often done, though, is with a sperate simple (ultrasound, distance, ...) sensor pointing downwards

Asked by mgruhler on 2017-04-25 08:54:39 UTC

Hey @femtogram have you solved how to create that layer for costmap_2d package? I'm interested in avoiding downstairs. If you have successfully made that, please I'd like to know how. Thanks

Asked by gerson_n on 2018-04-20 00:40:36 UTC

Avoiding downward stairs using Kinect and navigation stack?

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